Improve support for simulated cameras

Right now there is an option in the LBR4 launch to add the ASUS xtion camera into the scene. However, it is placed at a hard-coded pose from the description package. Would like to make this configurable so you can take a pose from a calibrated scene in the real world and automatically replicate that pose in your simulation environment.

Would like to add support for our other camera models that we use, Kinect2 and the new Azure Kinect. Additionally, we want to look into the parameters for the camera plugins to see how easy it is to make the camera outputs look more like the real camera, in particular making the depth more noisy. Hopefully this can be done natively in the Gazebo plugin, but using Blensor is the other option. Blensor will be more involved, we have done this in the past, but it seemed like a bit of a pain to setup.

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